Manipulator mechanism and working machine

ABSTRACT

A manipulator mechanism includes a rotary shaft rotatable about an axis extending in a first horizontal direction, an operation member disposed at one of opposite ends of the rotary shaft in an axial direction thereof to rotate together with the rotary shaft, an angle sensor disposed at the other of the opposite ends of the rotary shaft in the axial direction to detect a rotation angle of the rotary shaft, and a neutral return mechanism provided between the operation member and the angle sensor to return the operation member to a neutral position from a post-operation position which is a position to which the operation member has been moved.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of InternationalApplication No. PCT/JP2021/048785, filed on Dec. 28, 2021, which claimsthe benefit of priority to Japanese Patent Application No. 2021-011437,filed on Jan. 27, 2021, to Japanese Patent Application No. 2021-011442,filed on Jan. 27, 2021, and to Japanese Patent Application No.2021-011443, filed on Jan. 27, 2021. The entire contents of each ofthese applications are hereby incorporated herein by reference.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to a manipulator mechanism and a workingmachine.

2. Description of the Related Art

To date, a manipulator mechanism disclosed in Japanese Unexamined PatentApplication Publication No. 2007-239304, a working machine disclosed inJapanese Unexamined Patent Application Publication No. 2007-126898, anda working machine disclosed in Japanese Unexamined Patent ApplicationPublication No. 2019-116753 are known.

The manipulator mechanism disclosed in Japanese Unexamined PatentApplication Publication No. 2007-239304 has a rotary shaft that isrotatable around an axis extending in a horizontal direction, and anoperation member (dozer lever) that is disposed on one end of the rotaryshaft in an axial direction thereof and that rotates together with therotary shaft.

The working machine disclosed in Japanese Unexamined Patent ApplicationPublication No. 2007-126898 is provided with a manipulator base providedforward of an operator's seat mounted on a machine body. A manipulatormember that is grasped and operated is provided at the manipulator base.

The working machine disclosed in Japanese Unexamined Patent ApplicationPublication No. 2019-116753 has a machine body on which an operator'sseat is mounted. A manipulator base is provided beside the operator'sseat at the machine body, and an unload lever and a manipulator memberthat operates a hydraulic actuator mounted at the working machine areprovided at the manipulator base. The unload lever is configured to beswitchable between a first orientation, in which an operator isprevented from sitting on and getting off the operator's seat, and asecond orientation, in which the operator is allowed to sit on and getoff the operator's seat. In the first orientation, an operation of anoperation object that is operated by the manipulator member is allowedto be performed, and, in the second orientation, the operation of theoperation object is prevented from being performed.

SUMMARY OF THE INVENTION

In a manipulator mechanism of the related art, a control valve unit thatis operated by an operation member is disposed below a rotary shaft, andthe control valve unit and the rotary shaft are connected to each otherin an interlocked manner by a link mechanism. Therefore, the manipulatormechanism of the related art is long in an up-down direction.Consequently, there is a problem in that a lower space of themanipulator mechanism cannot be effectively used.

Incidentally, when an operator operates a manipulator member for a longtime with his/her arm extended forward, the operator gets tired. In thiscase, an armrest extending toward an operator's seat from a side of amanipulator base may be provided at the manipulator base. When theoperation member differing from the manipulator member above is providedbeside the armrest at the manipulator base provided with the armrest, ifan operation supporting mechanism that supports the operation member isprovided below the armrest, there is a problem in that the knees andthighs of the operator come into contact with the operation supportingmechanism.

To date, when the armrest is provided at the manipulator base, thearmrest is provided separately from an unload lever. In this case, thestructure becomes complicated and costs are increased.

Preferred embodiments of the present invention provide manipulatormechanisms each of which makes it possible to effectively use a spacebelow and working machines including such a manipulator mechanism.

Preferred embodiments of the present invention make it possible toprevent an operation supporting mechanism that supports an operationmember from protruding below an armrest provided at a manipulator base.

Preferred embodiments of the present invention provide working machineswhose structure is simplified and whose costs are reduced when amanipulator base is provided with an armrest and with a function ofallowing and preventing an actuation of an operation object that isoperated by an operation member.

A manipulator mechanism according to an aspect of the present inventionincludes: a rotary shaft rotatable about an axis extending in a firsthorizontal direction; an operation member disposed at one of oppositeends of the rotary shaft in an axial direction thereof to rotatetogether with the rotary shaft; an angle sensor disposed at the other ofthe opposite ends of the rotary shaft in the axial direction to detect arotation angle of the rotary shaft; and a neutral return mechanismprovided between the operation member and the angle sensor to return theoperation member to a neutral position from a post-operation position,the post-operation position being a position to which the operationmember has been moved.

The neutral return mechanism may include an interlock shaft disposedhigher than the rotary shaft and extending in a second horizontaldirection intersecting the first horizontal direction, an interlock armto which one of opposite ends of the interlock shaft is pivotallysupported and connected, the interlock arm being provided on the rotaryshaft such that the interlock arm protrudes upward from the rotaryshaft, and a neutral return spring including a coil spring fitted on theother of the opposite ends of the interlock shaft to bias the interlockshaft to return the operation member to the neutral position.

The neutral return mechanism may include a bracket member disposedhigher than the rotary shaft and pivotally supporting a housing memberthat contains the other of the opposite ends of the interlock shaft andthe neutral return spring.

The manipulator mechanism may further include: a swing restrictingmechanism to limit an operation amount of the operation member from theneutral position, the swing restricting mechanism and the neutral returnmechanism being arranged along the rotary shaft between the operationmember and the angle sensor.

The swing restricting mechanism may include at least one supporting partprotruding from the rotary shaft in the second horizontal direction, atleast one restricting shaft attached to the at least one supportingpart, and a contact member disposed higher than the rotary shaft, thecontact member being configured to be contacted by the at least onerestricting shaft when the operation member is in the post-operationposition to restrict swinging of the operation member, thepost-operation position being a position to which the operation memberhas been moved from the neutral position.

The at least one supporting part may include a first supporting part anda second supporting part protruding opposite to each other along thesecond horizontal direction from the rotary shaft. The at least onerestricting shaft may include a first restricting shaft attached to thefirst supporting part and configured to contact the contact member whenthe operation member is moved in a first direction from the neutralposition, and a second restricting shaft attached to the secondsupporting part and configured to contact the contact member when theoperation member is moved in a second direction from the neutralposition. The first restricting shaft and the second restricting shaftmay be attached such that the first restricting shaft and the secondrestricting shaft are movable toward and away from the contact member.

The contact member may include a first restricting portion to becontacted by the first restricting shaft and a second restrictingportion to be contacted by the second restricting shaft. The firstrestricting portion and the second restricting portion may be recessedupward from a lower surface of the contact member.

A working machine according to an aspect of the present inventionincludes any one of the manipulator mechanisms.

The working machine may further include: a machine body; an operator'sseat on the machine body; a manipulator base provided forward of theoperator's seat; an operation member swingable and disposed at themanipulator base; and an operation supporting mechanism to support theoperation member. The manipulator base may include an armrest having ahollow and extending in a rearward direction away from the manipulatorbase. The operation supporting mechanism may include the neutral returnmechanism and a swing restricting mechanism to limit an operation amountof the operation member from a neutral position thereof, and may becontained inside the hollow of the armrest.

A working machine according to another aspect of the present inventionincludes: a machine body; an operator's seat on the machine body; amanipulator base provided forward of the operator's seat; an operationmember swingable and disposed at the manipulator base; and an operationsupporting mechanism to support the operation member, wherein themanipulator base includes an armrest having a hollow and extending in arearward direction away from the manipulator base, and the operationsupporting mechanism includes a neutral return mechanism to return theoperation member to a neutral position from a post-operation positionand a swing restricting mechanism to limit an operation amount of theoperation member from the neutral position, and is contained inside thehollow of the armrest, the post-operation position being a position towhich the operation member has been moved.

The operation supporting mechanism may include a rotary shaft rotatableabout an axis in response to a swinging operation of the operationmember, and a shaft supporting member to support the rotary shaft suchthat the rotary shaft is rotatable about the axis. The rotary shaft maybe disposed below an upper wall of the armrest and be disposed such thatthe rotary shaft protrudes in a machine-body width direction from one ofopposite sides of the armrest in the machine-body width direction.

The neutral return mechanism may include a spring device disposedbetween the upper wall and the rotary shaft and including a neutralreturn spring to return the operation member to the neutral position,and a bracket member supporting the spring device and attached to theupper wall. A bracket attaching portion of the upper wall to which thebracket member is attached may be recessed in a direction from below toabove.

The swing restricting mechanism and the neutral return mechanism may bearranged along the rotary shaft.

The swing restricting mechanism may include at least one supporting partfixed to the rotary shaft, a contact member facing the at least onesupporting part, and at least one restricting shaft attached to the atleast one supporting part such that the at least one restriction shaftis movable toward and away from the contact member and to restrictswinging of the operation member by contacting the contact member whenthe operation member swings from the neutral position.

The at least one supporting part may include a first supporting partprotruding forward from the rotary shaft and a second supporting partprotruding rearward from the rotary shaft. The at least one restrictingshaft may include a first restricting shaft attached to the firstsupporting part and a second restricting shaft attached to the secondsupporting part. The contact member may be disposed above the rotaryshaft, and include a first restricting portion contacted by the firstrestricting shaft when the operation member is operated in a firstdirection from the neutral position and a second restricting portioncontacted by the second restricting shaft when the operation member isoperated in a second direction from the neutral position. The firstrestricting portion and the second restricting portion may be recessedupward from a lower surface of the contact member.

The manipulator base may include a base portion extending upward fromthe machine body and a manipulator base body disposed on an upperportion of the base portion. The manipulator base body may include anattaching portion attached to the base portion, and the armrest. Thearmrest may include an armrest base provided beside the attachingportion, and an armrest body extending toward the operator's seat fromthe armrest base. The operation member may be located on the oppositeside of the armrest base from the attaching portion The operationsupporting mechanism may be contained in the armrest base.

The working machine may further include an angle sensor to detect anoperation direction and an operation amount of the operation member. Theangle sensor may be contained in the attaching portion.

The armrest may extend in a rearward direction away from one of oppositeends in a machine-body width direction of the manipulator base. Themanipulator base may include a manipulator member attached to themanipulator base to be held and operated by an operator, and a flip-uparmrest extending in a rearward direction away from the other of theopposite ends in the machine-body width direction of the manipulatorbase. The flip-up armrest may be configured to be switchable between afirst orientation that does not allow the operator to sit on or get offthe operator's seat and a second orientation that allows the operator tosit on and get off the operator's seat, and configured such that, whenthe flip-up armrest is in the first orientation, an actuation of anoperation object to be operated by the manipulator member is allowed,and, when the flip-up armrest is in the second orientation, theactuation of the operation object is not allowed.

A working machine according to a further aspect of the present inventionincludes: a machine body; an operator's seat on the machine body; and amanipulator base provided forward of the operator's seat on the machinebody and having attached thereto a manipulator member to be held andoperated, wherein the manipulator base includes a flip-up armrestextending in a rearward direction away from the manipulator base, theflip-up armrest is configured to be switchable between a firstorientation that does not allow an operator to sit on or get off theoperator's seat and a second orientation that allows the operator to siton and get off the operator's seat, and configured such that, when theflip-up armrest is in the first orientation, an actuation of anoperation object to be operated by the manipulator member is allowed,and, when the flip-up armrest is in the second orientation, theactuation of the operation object is not allowed.

The manipulator base may include a base portion extending upward fromthe machine body, and a manipulator base body disposed on an upperportion of the base portion. The manipulator base body may include anattaching portion to be attached to the base portion, and the flip-uparmrest. The flip-up armrest may include an armrest base provided besidethe attaching portion, and an armrest body pivotally supported by thearmrest base. The armrest body may be switchable between a loweredposition in which the armrest body extends rearward from the armrestbase such that the flip-up armrest is in the first orientation, and araised position in which the armrest body has been rotated upward fromthe lowered position such that the flip-up armrest is in the secondorientation.

The working machine further may include a detection switch to detect aposition of the armrest body.

The working machine may further include a damper provided on one of thearmrest base and the armrest body and configured to contact the other ofthe armrest base and the armrest body to reduce shock produced when thearmrest body is rotated from the raised position to the loweredposition.

The working machine may further include a holding mechanism to hold thearmrest body in the lowered position and the raised position.

The working machine may further include a fixed-side member attached tothe armrest base, and a shaft supported by the fixed-side member torotate together with the armrest body. The fixed-side member may includea first supporting portion to support one of opposite ends of the shaftin an axial direction thereof, and a second supporting portion tosupport the other of the opposite ends of the shaft in the axialdirection. The holding mechanism may be provided between the firstsupporting portion and the second supporting portion.

The holding mechanism may include a first member attached to thefixed-side member, a second member supported such that the second memberis rotatable together with the shaft and slidable in an axial direction,and a spring member to push the second member against the first member.

The holding mechanism may include a cam protrusion provided on one ofthe first member and the second member, and a cam inclined surfaceprovided on the other of the first member and the second member tocontact the cam protrusion. The cam protrusion and the cam inclinedsurface may be configured to contact each other to cause a biasing forceof the spring member to act such that the armrest body is rotated towardthe lowered position at a position between (i) the lowered position and(ii) an intermediate position between the lowered position and theraised position, and that the armrest body is rotated toward the raisedposition at a position between the raised position and the intermediateposition.

The holding mechanism may be configured such that, when the armrest bodyis in the raised position, the cam protrusion and the cam inclinedsurface contact each other to cause a biasing force of the spring memberto act in a direction in which the armrest body is rotated from thelowered position to the raised position.

The working machine may further include: a damper provided on one of thearmrest base and the armrest body and configured to contact the other ofthe armrest base and the armrest body to reduce shock produced when thearmrest body is rotated from the raised position to the loweredposition; and a moving-side member attached to the armrest body torotate together with the shaft. The damper may be provided on thearmrest base. The moving-side member may include a damper contactingportion to contact the damper.

The above and other elements, features, steps, characteristics andadvantages of the present invention will become more apparent from thefollowing detailed description of the preferred embodiments withreference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of preferred embodiments of the presentinvention and many of the attendant advantages thereof will be readilyobtained as the same becomes better understood by reference to thefollowing detailed description when considered in connection with theaccompanying drawings described below.

FIG. 1 is a plan view of a working machine.

FIG. 2 is a side view of the working machine.

FIG. 3 is a side view of a cabin.

FIG. 4 is a perspective view of an operation section.

FIG. 5 is a perspective view of a manipulator base body.

FIG. 6 is an exploded perspective view of a manipulator base.

FIG. 7 is a perspective view of a first structural body when seen fromtherebelow.

FIG. 8 is a perspective view of the manipulator base body when seen fromtherebelow.

FIG. 9 is a side view of the operation section.

FIG. 10 is a bottom view of a hinge mechanism.

FIG. 11 is an exploded perspective view of a first armrest.

FIG. 12 is a perspective view of the hinge mechanism when seen fromthereabove.

FIG. 13 shows a core and moving-side members.

FIG. 14 is a perspective view showing a state in which the moving-sidemembers contact dampers.

FIG. 15 is a perspective view showing a state in which the moving-sidemembers contact abutment members.

FIG. 16 is a perspective view of a first cam.

FIG. 17 is a plan view of a second cam.

FIG. 18 is a perspective view showing the first cam and the second camin a lowered position.

FIG. 19 is a perspective view showing the first cam and the second camin a raised position.

FIG. 20 is a bottom view of the inside of a second armrest when seenfrom therebelow.

FIG. 21 is a back sectional view of a supporting structure of a dozerlever.

FIG. 22 is a perspective view of the supporting structure of the dozerlever.

FIG. 23 is a partially exploded perspective view of the supportingstructure of the dozer lever.

FIG. 24 is a right side view of a supporting portion of a rotary shaft.

FIG. 25 is a right side view of a neutral return mechanism.

FIG. 26 is a right side view of a swing restricting mechanism.

FIG. 27 is a right side view of the operation section.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The preferred embodiments will now be described with reference to theaccompanying drawings, wherein like reference numerals designatecorresponding or identical elements throughout the various drawings. Thedrawings are to be viewed in an orientation in which the referencenumerals are viewed correctly.

An embodiment of the present invention is described below with referenceto the drawings as appropriate.

FIG. 1 is a schematic plan view showing the entire structure of aworking machine 1 according to the present embodiment. FIG. 2 is aschematic side view of the working machine 1. In the present embodiment,a backhoe, which is a turning working machine, is described as anexample of the working machine 1.

As shown in FIGS. 1 and 2 , the working machine 1 includes a machinebody (turning base) 2, at least one traveling device 3, and a workingdevice 4. A cabin 5 is mounted on the machine body 2. An operator's seat(seat) 6 on which an operator sits is provided inside the cabin 5. Inother words, the operator's seat 6 is mounted on the machine body 2, andthe cabin 5 surrounds the operator's seat 6. The operator's seat 6 has aseat portion 6A that is a portion on which the operator sits and abackrest 6B that is a portion receiving the back of the operator.

In the present embodiment, a direction forward of an operator seated onthe operator's seat 6 of the working machine 1 is described as being aforward direction (direction of arrow A1 in FIGS. 1 and 2 ), a directionrearward of the operator is described as being a rearward direction(direction of arrow A2 in FIGS. 1 and 2 ), a direction of arrow K1 inFIGS. 1 and 2 is described as being a front-rear direction, a left sideof the operator (direction of arrow B1 in FIG. 1 ) is described as beinga leftward direction, and a right side of the operator (direction ofarrow B2 in FIG. 1 ) is described as being a rightward direction.

As shown in FIG. 1 , a horizontal direction orthogonal to the front-reardirection K1 is described as being a machine-body width direction K2(width direction of the machine body 2). A direction toward a rightportion or a direction toward a left portion from a central portion ofthe machine body 2 in the width direction is described as being amachine-body outward direction (outward in terms of the machine-bodywidth direction K2). In other words, the machine-body outward directionis defined in terms of the machine-body width direction K2 and is adirection away from the center of the machine body 2 in the widthdirection. A direction opposite to the machine-body outward direction isdescribed as a machine-body inward direction (inward in terms of themachine-body width direction K2). In other words, the machine-bodyinward direction is defined in terms of the machine-body width directionK2 and is a direction toward the center of the machine body 2 in thewidth direction.

As shown in FIGS. 1 and 2 , the at least one traveling device 3 is acrawler traveling device that supports the machine body 2 such that themachine body 2 is capable of traveling, and includes a traveling frame3A, a first traveling device 3L provided on the left of the travelingframe 3A, and a second traveling device 3R provided on the right of thetraveling frame 3A. The first traveling device 3L is driven by a firsttravel motor M1, and the second traveling device 3R is driven by asecond travel motor M2. The first travel motor M1 and the second travelmotor M2 are hydraulic motors (hydraulic actuators).

As shown in FIG. 2 , a dozer device 7 is mounted on a front portion ofeach traveling device 3. The dozer device 7 has a dozer arm 7A whoserear portion is pivotally supported by the traveling frame 3A and thatis swingable in an up-down direction, and a dozer blade 7B provided on afront portion of the dozer arm 7A. The dozer device 7 can be raised andlowered (the dozer blade 7B can be raised and lowered) by extending andcontracting a dozer cylinder (hydraulic actuator).

As shown in FIG. 2 , the machine body 2 is supported on the travelingframe 3A through a turning bearing 8 to be turnable around a turn axisX1. The machine body 2 is driven by being turned by a turn motor M3. Theturn motor M3 is a hydraulic motor (hydraulic actuator, hydraulicdevice). The machine body 2 has a baseplate (hereunder referred to as“turning baseplate”) 9 supported by the turning bearing 8 so as to beturnable around the turn axis X1. The turning baseplate 9 is formedfrom, for example, a steel plate, and constitutes a bottom portion ofthe machine body 2. A vertical rib 9A, which is a reinforcing member, isprovided at a top surface of the turning baseplate 9 from a frontportion to a rear portion thereof. By providing, in addition to thevertical rib 9A, for example, a supporting member that supports anobject to be mounted, such as a device to be mounted on the machine body2, on the turning baseplate 9, a turning frame, which becomes aframework of the machine body 2, is formed. The vicinity of the turningframe in a horizontal direction is covered by a turning cover 12.

As shown in FIGS. 1 and 2 , a weight 10 is provided on a rear portion ofthe machine body 2, and a fuel tank T1 that stores fuel of a prime moverE1 and a hydraulic-fluid tank T2 that stores hydraulic fluid aredisposed side by side in the machine-body width direction K2 forward ofthe weight 10.

As shown in FIG. 1 , the cabin 5 is mounted on one side portion (leftside portion) of the machine body 2 in the width direction K2. The primemover E1 is mounted on the other side portion (right side portion) ofthe machine body 2 in the width direction K2. The prime mover E1 is adiesel engine. Note that the prime mover E1 may be a gasoline engine, anLPG engine, or an electric motor, or may be a hybrid type having anengine and an electric motor.

A hydraulic pump P1 is provided at a rear portion of the prime mover E1.The hydraulic pump P1 is driven by the prime mover E1 and compresses anddelivers hydraulic fluid that is used in a hydraulic driving unit. Thehydraulic driving unit is, for example, a hydraulic actuator mounted onthe working machine 1. A radiator R1 that cools cooling water of theprime mover E1, an oil cooler O1 that cools hydraulic fluid, and acondenser D1 that cools refrigerant of an air conditioner mounted on theworking machine 1 are disposed forward of the prime mover E1.

As shown in FIG. 1 , a controller U1 is provided below the cabin 5. Thecontroller U1 uses, for example, a microcomputer including a CPU(Central Processing Unit), EEPROM (Electrically Erasable ProgrammableRead-Only Memory), and the like.

A swivel joint (hydraulic device) S1 is provided at a position on theturn axis X1. The swivel joint S1 is a hydraulic device that causeshydraulic fluid to flow, and is a rotary joint that causes hydraulicfluid to flow between a hydraulic device of the machine body 2 and ahydraulic device of each traveling device 3. A control valve (hydraulicdevice) V1 is disposed rearward of the swivel joint S1. The controlvalve V1 is a hydraulic device formed by putting together control valveunits that control hydraulic actuators, such as hydraulic motors andhydraulic cylinders, of the working machine 1. The control valve unitsconstituting the control valve V1 are switching valves that switch thedirection of hydraulic fluid with respect to the hydraulic actuators andare control valve units that are electrically controlled by thecontroller U1. For example, a solenoid valve is used for each controlvalve unit. The control valve units constituting the control valve V1are control valve units that control, for example, a hydraulicattachment that is mounted in place of or in addition to the firsttravel motor M1, the second travel motor M2, the turn motor M3, thedozer cylinder, a swing cylinder C2, a boom cylinder C3, an arm cylinderC4, a bucket cylinder C5, or a bucket 24.

As shown in FIGS. 1 and 2 , a swing bracket 21 is attached to a frontportion (portion protruding from the machine body 2) of a supportbracket 20 through a swing shaft 26 so as to be swingable around avertical axis. The working device 4 is attached to the swing bracket 21.

As shown in FIG. 2 , the working device 4 has a boom 22, an arm 23, andthe bucket (working tool) 24. A base portion 22A of the boom 22 ispivotally attached to an upper portion of the swing bracket 21 through aboom pivot 27 so as to be rotatable around a horizontal axis (axisextending in the machine-body width direction K2). Therefore, the boom22 is swingable in an up-down direction.

The arm 23 is pivotally attached to an end side of the boom 22 so as tobe rotatable around a horizontal axis. Therefore, the arm 23 isswingable in a front-rear direction or an up-down direction. The bucket24 is provided at an end side of the arm 23 so as to be capable ofshoveling and dumping. Shoveling is an operation for swinging the bucket24 in a direction toward the boom 22, and an example thereof isshoveling earth and sand or the like. Dumping is an operation forswinging the bucket 24 in a direction away from the boom 22, and anexample thereof is causing shoveled earth and sand or the like to drop(to be discharged).

In place of or in addition to the bucket 24, other working tools(hydraulic attachments) that are drivable by hydraulic actuators can bemounted at the working machine 1. Such other working tools include, forexample, a hydraulic breaker, a hydraulic crusher, an angle broom, anearth auger, a pallet fork, a sweeper, a mower, and a snow blower.

The swing bracket 21 is swingable due to extension and contraction ofthe swing cylinder C2 provided at the machine body 2. The boom 22 isswingable due to extension and contraction of the boom cylinder C3. Thearm 23 is swingable due to extension and contraction of the arm cylinderC4. The bucket 24 is capable of performing shoveling and dumping due toextension and contraction of the bucket cylinder (working-tool cylinder)C5. The swing cylinder C2, the boom cylinder C3, the arm cylinder C4,and the bucket cylinder C5 are hydraulic cylinders (hydraulicactuators).

As shown in FIGS. 1 and 3 , a door 53 is provided at a side surface(left side surface) of the cabin 5. The door 53 has its rear portionsupported by a hinge 61 so as to be rotatable around a vertical axis,and when the door 53 rotates around the hinge 61, a front portion of thedoor 53 moves outward in the machine-body width direction K2 to open andclose a doorway 62. The doorway 62 is an opening for allowing anoperator to get into and out of the cabin 5 (sit on and get off theoperator's seat 6).

As shown in FIG. 3 , the operator's seat 6 is supported through, forexample, a seat base 76 by a floor 5B constituting a bottom portion ofthe cabin 5. The operator's seat 6 is disposed at a central portion ofthe cabin 5 in the machine-body width direction K2. The seat base 76 isattached to the floor 5B and on the central portion of the cabin 5 inthe machine-body width direction K2. A suspension device 77 is providedon the seat base 76, and the operator's seat 6 is provided on thesuspension device 77 through slide rails 78 such that the position ofthe operator's seat 6 in a front-rear direction is adjustable.

An air-conditioner body 63 of an air conditioner is provided inside theseat base 76. The air-conditioner body 63 has an evaporator and a blowerfan. Air-conditioning air blown out from the air-conditioner body 63 isguided to a duct 66B through a duct 66A and is blown out to a windshieldof the cabin 5 from an air outlet provided in an upper portion of theduct 66B, the duct 66B being provided at a front portion of the insideof the cabin 5, the duct 66A being provided at a bottom portion of theinside of the cabin 5.

A manipulator device 41 is provided inside the cabin 5. The manipulatordevice 41 is provided forward of the operator's seat 6. The operator'sseat 6 and the manipulator device 41 constitute an operation section 42that operates the working machine 1 (manipulates, for example, themachine body 2, the traveling devices 3, the working device 4, and theswing bracket 21). Note that, although in the present embodiment, astructure in which the operation section 42 is disposed inside the cabin5 (cabin specification) is described, it is not limited thereto. Astructure in which portions in the front-rear direction K1 and themachine-body width direction K2 of the operation section 42 are open tothe outside and an upper portion is covered by a roof (canopy) (canopyspecification) may be used, or a structure in which the portions in thefront-rear direction K1 and the machine-body width direction K2 of theoperation section 42 and the upper portion thereof are open to theoutside may be used.

As shown in FIGS. 3 and 4 , the manipulator device 41 has, for example,a manipulator base 81, at least one manipulator member 82, a monitor 84,at least one travel operation member 85, and an operation lever(operation member) 80.

As shown in FIG. 4 , the manipulator base 81 is provided forward of theoperator's seat 6 on the machine body 2. The manipulator base 81 isprovided toward the center of the cabin 5 in the machine-body widthdirection K2. In other words, the manipulator base 81 is provided suchthat its center in the machine-body width direction K2 substantiallycoincides with the center of the cabin 5 in the machine-body widthdirection K2. The manipulator base 81 has a base portion 86 that isprovided in a standing manner on the floor 5B (the machine body 2), anda manipulator base body 87 that is disposed on an upper portion of thebase portion 86.

As shown in FIGS. 4 and 5 , the at least one manipulator member 82 is amember that is grasped and operated by an operator. The at least onemanipulator member 82 is attached to the manipulator base body 87 (themanipulator base 81). The at least one manipulator member 82 includes afirst manipulator handle 82L and a second manipulator handle 82R. Thefirst manipulator handle 82L is provided on one side (left side) withrespect to a central portion of the manipulator base body 87 in themachine-body width direction K2. The second manipulator handle 82R isprovided on the other side (right side) of the central portion of themanipulator base body 87 in the machine-body width direction K2, andbeside the first manipulator handle 82L in the machine-body widthdirection K2.

As shown in FIGS. 4 and 5 , the first manipulator handle 82L and thesecond manipulator handle 82R are both devices capable of operating twooperation objects provided at the working machine 1. The firstmanipulator handle 82L is, for example, capable of turning the machinebody 2, which is a first operation object, and capable of swinging thearm 23, which is a second operation object. The second manipulatorhandle 82R is, for example, capable of swinging the bucket 24, which isa first operation object, and the boom 22, which is a second operationobject. The operation direction and the swinging amount of eachmanipulator member 82 is detected by an angle sensor. A detection signalof the angle sensor is sent to the controller U1. The controller U1controls each control valve unit that controls its correspondingoperation object on the basis of the detection signal from the anglesensor.

As shown in FIGS. 4 and 5 , the monitor 84 is disposed at a centralportion in the machine-body width direction K2 on an upper surface ofthe manipulator base body 87 (between the first manipulator handle 82Land the second manipulator handle 82R), and is positioned forward of anoperator that operates in a forwardly tilted posture the working machine1 by grasping the first manipulator handle 82L and the secondmanipulator handle 82R. The monitor 84 has on its rear surface a display(screen) 84 that performs a display operation. The display 84A displays,for example, basic information about the working machine 1, images ofthe vicinity of the working machine 1, or information necessary forperforming various settings of the working machine 1.

Below the display 84A of the monitor 84, a first switch 84B that is aswitch that changes the rotation speed of the prime mover E1, a secondswitch 84C that is a switch that sets the working speed of the workingmachine 1, and a third switch 84D that is a switch that turns on andoff, for example, a boom light, a headlight, or a rear light areprovided.

Leftward of the first manipulator handle 82L, a plurality of operationtools (a first operation tool 44A, a second operation tool 44B, a thirdoperation tool 44C) that perform operations regarding display items thatare displayed on the screen are provided. By being rotated, the firstoperation tool 44A changes a selection item candidate among a pluralityof selection items to be displayed on the display 84A. The thirdoperation tool 44C determines a selection item by being pushed. Thesecond operation tool 44B cancels the determined selection item by beingpushed.

As shown in FIG. 4 , the at least one travel operation member 85 isprovided on the floor 5B. The at least one travel operation member 85 isprovided, one on the left and one on the right of the base portion 86 ofthe manipulator base 81. The travel operation members (called travelingpedals) 85 are pedals that operate the traveling devices 3 by beingstepped on, and the left traveling pedal 85 operates the first travelingdevice 3L (the first travel motor M1) and the right traveling pedal 85operates the second traveling device 3R (the second travel motor M2).Detection of the step-on amount and the step-on direction of eachtraveling pedal 85 is performed by an angle sensor. A detection signalfrom the angle sensor is sent to the controller U1, and the controllerU1 controls the control valve units that control the travel motors M1and M2 on the basis of the detection signal from the angle sensor.

The operation lever 80 is a dozer lever that manipulates the dozerdevice 7.

Note that a swing operation member that swings the swing bracket 21 (forexample, a seesaw switch (not shown) that is provided at an upperportion of the first manipulator handle 82L or the second manipulatorhandle 82R) is provided at the operation section 42. Detection of thestep-on amount and the step-on direction of the swing operation memberis also performed by an angle sensor. A detection signal from the anglesensor is sent to the controller U1, and the controller U1 controls thecontrol valve unit that controls the swing cylinder on the basis of thedetection signal from the angle sensor.

As shown in FIG. 6 , the base portion 86 has at its upper portion anattaching bracket 91 to which the manipulator base body 87 is attached.As shown in FIGS. 4 and 5 , the manipulator base body 87 has anattaching portion 92 that is disposed at a central portion in themachine-body width direction K2, and armrests 93 that are disposed, oneon the left and one on the right of the attaching portion 92. Theattaching portion 92 is attached to the attaching bracket 91 at the baseportion 86 so as to be attachable to and detachable from the attachingbracket 91. The armrest 93 positioned on the left (doorway 62 side) ofthe attaching portion 92 is called a first armrest (flip-up armrest)93L, and the armrest 93 positioned on the right of the attaching portion92 is called a second armrest 93R.

The first armrest 93L has an armrest base 93L1 that is provided on theleft of the attaching portion 92, and an armrest body 93L2 that ispivotally supported on a rear portion of the armrest base 93L1. Thesecond armrest 93R has an armrest base 93R1 that is provided on theright of the attaching portion 92, and an armrest body 93R2 that isintegrally formed with the armrest base 93R1.

The armrest body 93L2 extends rearward (toward the operator's seat 6)from the armrest base 93L1. The armrest body 93R2 also extends rearward(toward the operator's seat 6) from the armrest base 93R1. That is, eacharmrest 93 is provided at the manipulator base 81, and extends towardthe operator's seat 6 from a side of the manipulator base 81.

As shown in FIGS. 9 and 27 , a lower surface 93 a of each armrest 93(the first armrest 93L and the second armrest 93R) is an inclinedsurface extending upward toward the rear. Therefore, a lower space beloweach armrest 93 can be made wide toward the operator's seat 6. At theoperation section 42 of the present embodiment, the left leg of theoperator is disposed below the first armrest 93L, and the right leg ofthe operator is disposed below the second armrest 93R. The lower surface93 a of each armrest 93, by being an inclined surface extending upwardtoward the rear, can widen the space where the operator places his/herlegs.

As shown in FIGS. 4 and 5 , the armrest body 93L2 and the armrest body93R2 each have an elbow placement portion 93A that is disposed on a rearportion thereof and upon which an elbow is placed. Each elbow placementportion 93A is, for example, a cushion member. An operator places theelbow of his/her left arm on the elbow placement portion 93A of thefirst armrest 93L and grasps the first manipulator handle 82L withhis/her left hand, and places the elbow of his/her right arm on theelbow placement portion 93A of the second armrest 93R and grasps thesecond manipulator handle 82R with his/her right hand. Therefore, theoperator seated on the operator's seat 6 operates the manipulatormembers 82 with his/her upper body in a forwardly tilted posture.

As shown in FIG. 5 , it can be said that the manipulator base body 87includes a first structural body 87A that includes the attaching portion92, the armrest base 93L1 of the first armrest 93L, and the secondarmrest 93R, and a second structural body 87B that includes the armrestbody 93L2 of the first armrest 93L.

As shown in FIG. 6 , the first structural body 87A has an upper body 94and a lower body 95. As shown in FIG. 7 , the upper body 94 has an upperwall 96 and a peripheral wall 97 extending downward from an edge portionof the upper wall 96, and has an opening on a lower side thereof. Theupper body 94 includes a structural part (called a first structuralpart) 94A constituting the attaching portion 92, a structural part(called a second structural part) 94B constituting the armrest base 93L1of the first armrest 93L, and a structural part (called a thirdstructural part) 94C constituting the second armrest 93R.

As shown in FIG. 6 , the upper wall 96 is provided with first attachingparts 96A to which the manipulator members 82 are attached, a secondattaching part 96B to which the monitor 84 is attached, a thirdattaching part 96C to which the first switch 84B, the second switch 84C,and the third switch 84D are attached, and a fourth attaching part 96Dto which the first operation tool 44A, the second operation tool 44B,and the third operation tool 44C are attached.

As shown in FIG. 7 , the peripheral wall 97 has a first wall 97 a to aninth wall 97 i. The first wall 97 a constitutes a front portion of thefirst structural part 94A, and the second wall 97 b constitutes a rearportion of the first structural part 94A. The third wall 97 cconstitutes a left portion of the second structural part 94B, the fourthwall 97 d constitutes a front portion of the second structural part 94B,and the fifth wall 97 e constitutes a rear portion of the secondstructural part 94B. The sixth wall 97 f constitutes a left portion ofthe third structural part 94C, the seventh wall 97 g constitutes a rightportion of the third structural part 94C, the eighth wall 97 hconstitutes a front portion of the third structural part 94C, and theninth wall 97 i constitutes a rear portion of the third structural part94C.

As shown in FIG. 8 , the lower body 95 is a cover body that closes thelower-end opening of the upper body 94. The first structural body 87Ahas a hollow as a result of covering an inner space (lower space) of theupper body 94 by the lower body 95 from therebelow. That is, theattaching portion 92, the first armrest 93L, and the second armrest 93Rhave a hollow.

The lower body 95 has a first part 95A corresponding to the firststructural part 94A, a second part 95B corresponding to the secondstructural part 94B, and a third part 95C corresponding to the thirdstructural part 94C.

As shown in FIG. 8 , the first part 95A protrudes downward from a lowerend of the upper body 94, and covers the attaching bracket 91 of thebase portion 86. As shown in FIG. 6 , the first part 95A has a main part95Aa that is integrally formed with the second part 95B and the thirdpart 95C and that covers the left and right sides, the rear, and thebottom of the attaching bracket 91, and a sub-part 95Ab that covers thefront of the attaching bracket 91. By removing the sub-part 95Ab, it ispossible to remove the main part 95Aa (lower body 95) with the upperbody 94 being attached to the base portion 86.

As shown in FIG. 9 , the first armrest 93L (armrest 93) is switchablebetween a first orientation 98 and a second orientation 99. The firstorientation 98 is an orientation in which an operator is prevented fromsitting on and getting off the operator's seat 6. Specifically, thefirst orientation 98 is an orientation in which an operator is preventedfrom sitting on and getting off the operator's seat 6 through asitting-on and getting-off passage between the operator's seat 6 and thedoorway 62. The second orientation 99 is an orientation in which anoperator is allowed to sit on and get off the operator's seat.Specifically, the second orientation 99 is an orientation in which anoperator is allowed to sit on and get off the operator's seat 6 throughthe sitting-on and getting-off passage between the operator's seat 6 andthe doorway 62.

In the present embodiment, the armrest body 93L2 of the first armrest93L can change its position between a lowered position 100, where thearmrest body 93L2 extends toward the operator's seat 6 from the armrestbase 93L1 as shown by a solid line in FIG. 9 , and a raised position101, where the armrest body 93L2 is rotated upward from the loweredposition 100 by an angle of substantially 90 degrees as shown byalternate long and two short dash lines in FIG. 9 . The firstorientation 98 is realized by setting the armrest body 93L2 of the firstarmrest 93L in the lowered position 100, and the second orientation 99is realized by setting the armrest body 93L2 of the first armrest 93L inthe raised position 101.

In the first orientation 98, operation objects (the boom cylinder C3,the arm cylinder C4, the bucket cylinder C5, the turn motor M3) that areoperated by the manipulator member 82 are allowed to operate, and, inthe second orientation 99, the operations of the operation objects areprevented from being performed. Note that hydraulic actuators whoseoperations are allowed to be performed and prevented from beingperformed as a result of switching the orientation of the first armrest93L between the first orientation 98 and the second orientation 99 arenot limited to only the boom cylinder C3, the arm cylinder C4, thebucket cylinder C5, and the turn motor M3. Other hydraulic actuators(the first travel motor M1, the second travel motor M2, the swingcylinder C2, the dozer cylinder, etc.) may be added. That is, when thefirst armrest 93L is set in the first orientation 98, the operations ofthe hydraulic actuators mounted at the working machine 1 are allowed tobe performed, whereas, when the first armrest 93L is set in the secondorientation 99, the operations of the hydraulic actuators mounted at theworking machine 1 are prevented from being performed.

“The operations of the hydraulic actuators are allowed to be performed”means that, when members that operate the hydraulic actuators areoperated, the controller U1 controls the electric current that issupplied to the corresponding control valve units (or sends signals tothe corresponding control valve units), and thus the hydraulic actuatorsare in an operating state. “The operations of the hydraulic actuatorsare prevented from being performed” means that, even if the members thatoperate the hydraulic actuators are operated, the controller U1 does notsend signals to the corresponding control valve units and thus thehydraulic actuators are in a non-operating state.

The position of the armrest body 93L2 is detected by a detection switch102. As shown in FIGS. 10 and 11 , the detection switch 102 is providedon the armrest base 93L1. Specifically, the detection switch 102 has aswitch body 102A that is accommodated in a rear-end-side right portionof the armrest base 93L1 and that is attached to the armrest base 93L1,and a contactor 102B that protrudes rearward from the armrest base 93L1.

In detecting the position of the armrest body 93L2, when the armrestbody 93L2 is positioned in the lowered position 100, the armrest body93L2 contacts (pushes) the contactor 102B to detect that the armrestbody 93L2 is in the lowered position 100. When the armrest body 93L2 isrotated toward the raised position 101 from the lowered position 100,and the armrest body 93L2 is separated from the contactor 102B, it isdetected that the armrest body is not in the lowered position 100, thatis, the armrest body is in the raised position 101.

The switch body 102A is connected to the controller U1. The controllerU1 is capable of acquiring detection information provided by thedetection switch 102. When the controller U1 acquires information thatthe armrest body 93L2 is in the lowered position 100, the controller U1allows the operations of the hydraulic actuators mounted at the workingmachine 1 to be performed, whereas, when the controller U1 acquiresinformation that the armrest body 93L2 is not in the lowered position100 (is in the raised position 101), the controller U1 prevents theoperations of the hydraulic actuators mounted at the working machine 1to be performed.

Note that, with the armrest body 93L2 being detected as being in thelowered position 100, the operations of the hydraulic actuators mountedat the working machine 1 may be prevented from being performed bypushing a switch provided at the working machine 1, such as the secondswitch 84C.

Note that, with the armrest body being detected as being in the raisedposition 101, the operations of the hydraulic actuators may be allowedby stopping the controller U1 from preventing the operations of thehydraulic actuators mounted at the working machine 1 as a result ofpushing a switch provided at the working machine 1, such as the secondswitch 84C.

As shown in FIG. 8 , a recessed portion 103 is formed on a lower-surfaceside of the armrest body 93L2 of the first armrest 93L. As a result offorming the recessed portion 103, it is possible to catch the recessedportion 103 with one's finger or the like when, for example, raising thearmrest body from the lowered position 100.

As shown in FIG. 10 , a hinge mechanism 105 that supports the armrestbody 93L2 so as to be rotatable around the armrest base 93L1 isinstalled in the first armrest 93L.

As shown in FIGS. 10 and 12 , the hinge mechanism 105 has a fixed-sidemember 104, a shaft 106, a moving-side member 107, and a holdingmechanism 108.

As shown in FIGS. 10 and 11 , a protrusion 109 protruding rearward isformed at the rear portion of the armrest base 93L1 (the secondstructural body 94B), and a recessed portion 110 into which theprotrusion 109 is inserted is formed in a front portion of the armrestbody. The hinge mechanism 105 is installed at a joint between the rearportion of the armrest base 93L1 and the front portion of the armrestbody 93L2.

As shown in FIGS. 10 and 12 , the fixed-side member 104 is accommodatedin the rear portion of the armrest base 93L1 (the second structural part94B). The fixed-side member 104 includes a pair of fixed hinges (a firstfixed hinge 104L and a second fixed hinge 104R) disposed side by sidewith an interval therebetween in the machine-body width direction K2.The first fixed hinge 104L and the second fixed hinge 104R each have afixed portion 104A that is attached to the armrest base 93L1 through,for example, a bolt, and a supporting portion 104B (a first supportingportion 104B1 or a second supporting portion 104B2) that is provided ona rear portion of the fixed portion 104A. The first supporting portion104B1 is disposed on the left side within the protrusion 109, and thesecond supporting portion 104B2 is disposed on the right side within theprotrusion 109. The fixed portion 104A of the first fixed hinge 104L andthe fixed portion 104A of the second fixed hinge 104R are connected toeach other by a connection member 111.

The shaft 106 is supported by the fixed-side member 104 and rotatestogether with the armrest body 93L2. The shaft 106 is inserted from thefirst supporting portion 104B1 to the second supporting portion 104B2 soas to be rotatable around an axis. That is, the first supporting portion104B1 supports one end of the shaft 106 in an axial direction, and thesecond supporting portion 104B2 supports the other end of the shaft 106in the axial direction. The shaft 106 protrudes from the firstsupporting portion 104B1 and leftwards from the protrusion 109, andprotrudes from the second supporting portion 104B2 and rightwards fromthe protrusion 109.

As shown in FIGS. 10 and 11 , the moving-side member 107 rotatestogether with the shaft 106 and is attached to the armrest body 93L2.The moving-side member 107 includes a pair of movable hinges (a firstmovable hinge 107L and a second movable hinge 107R) that are disposedside by side with an interval in the machine-body width direction K2therebetween, and are attached, one on the left and the other on theright of a front portion of the armrest body 93L2. The first movablehinge 107L and the second movable hinge 107R each have a fixed portion107A that is attached to the armrest body 93L2, and a shaft attachingportion 107B (a first shaft attaching portion 107B1 or a second shaftattaching portion 107B2) that is provided at a front portion of thefixed portion 107A.

As shown in FIG. 13 , the moving-side member 107 (the fixed portions107A) is attached to a core 112, formed from a plate material, through,for example, bolts. The core 112 is the core 112 of the armrest body93L2, and, as shown in FIG. 10 , is embedded in the armrest body 93L2.The armrest body 93L2 has insertion portions 113 (see FIG. 10 ) intowhich the fixed portions 107A of the moving-side member 107 areinserted, and bolt insertion holes 114 (see FIG. 8 ) into which boltsare inserted. The fixed portions 107A of the moving-side member 107 (thefirst movable hinge 107L and the second movable hinge 107R) are insertedinto the armrest body 93L2, and the fixed portions 107A are fixed to thecore 112 by bolts that are inserted through the bolt insertion holes114, as a result of which the moving-side member 107 is attached to thecore 112.

As shown in FIG. 13 , the core 112 has an extending portion 115extending forward from a right end of the core 112, and a strikingportion 116 provided at a front portion of the extending portion 115.When the armrest body 93L2 is brought to the lowered position 100, thestriking portion 116 directly contacts the contactor 102B of thedetection switch 102 or contacts the contactor 102B of the detectionswitch 102 through a resin member constituting the armrest body 93L2.

As shown in FIG. 11 , the first shaft attaching portion 107B1 isdisposed on a left side inside the recessed portion 110 of the armrestbody 93L2, and the second shaft attaching portion 107B2 is disposed on aright side inside the recessed portion 110. As shown in FIG. 12 , thefirst shaft attaching portion 107B1 is attached to a left end of theshaft 106 so as to be rotatable together with the shaft 106, and thesecond shaft attaching portion 107B2 is attached to a right end of theshaft 106 so as to be rotatable together with the shaft 106.

Note that the first movable hinge 107L and the second movable hinge 107Rare first installed on the shaft 106, and, after being installed on theshaft 106, are attached to the armrest body 93L2. As shown in FIGS. 10and 12 , a spacer 117 is interposed between the first supporting portion104B1 and the first shaft attaching portion 107B1, and a spacer 117 isinterposed between the second supporting portion 104B2 and the secondshaft attaching portion 107B2.

As described above, the armrest body 93L2 is rotatable around the shaft106 with respect to the armrest base 93L1 in a raising direction 118(see FIG. 9 ), which is a direction in which the armrest body 93L2 isrotated from the lowered position 100 to the raised position 101, and ina lowering direction 119 (see FIG. 9 ), which is a direction in whichthe armrest body 93L2 is rotated from the raised position 101 to thelowered position 100. That is, the armrest body 93L2 is switched betweenthe lowered position 100 and the raised position 101 by being rotatedaround the shaft 106.

As shown in FIG. 12 , the first shaft attaching portion 107B1 and thesecond shaft attaching portion 107B2 are each provided with a firstcontacting portion (damper contacting portion) 120 and a secondcontacting portion 121. As shown in FIG. 11 , when the armrest body 93L2is in the lowered position 100, each first contacting portion 120 ispositioned at a lower portion of a corresponding one of the first shaftattaching portion 107B1 and the second shaft attaching portion 107B2,and each second contacting portion 121 is positioned at an upper portionof the corresponding one of the first shaft attaching portion 107B1 andthe second shaft attaching portion 107B2.

As shown in FIGS. 10 and 11 , the armrest base 93L1 is provided with atleast one damper 122 that, when the armrest body 93L2 switches from theraised position 101 to the lowered position 100, contacts the armrestbody 93L2 to reduce (decrease) absorption of shock produced when thearmrest body 93L2 rotates from the raised position 101 to the loweredposition 100. As the at least one damper 122, for example, a hydraulicdamper is used. The at least one damper 122 is a pair of dampers (afirst damper 122L and a second damper 122R). The first damper 122L isdisposed on the left of the protrusion 109, and the second damper 122Ris disposed on the right of the protrusion 109. A first abutment member123L is provided at a portion where the first damper 122L is provided,and a second abutment member 123R is provided at a portion where thesecond damper 122R is provided.

As shown in FIG. 14 , when the armrest body 93L2 is in the loweredposition 100, the first contacting portion 120 of the first shaftattaching portion 107B1 contacts the first damper 122L, and the firstcontacting portion 120 of the second shaft attaching portion 107B2contacts the second damper 122R.

As shown in FIG. 15 , when the armrest body 93L2 is in the raisedposition 101, the second contacting portion 121 of the first shaftattaching portion 107B1 contacts the first abutment member 123L, and thesecond contacting portion 121 of the second shaft attaching portion107B2 contacts the second abutment member 123R.

Note that dampers 122 may be provided at the armrest body 93L2. In thiscase, when the armrest body 93L2 is switched to the lowered position100, the dampers 122 contact the armrest base 93L1. Note that dampers122 need not be provided, or may not be provided. Instead of dampers122, cushion members may be used as stoppers.

The holding mechanism 108 is a mechanism that holds the armrest body93L2 in the lowered position 100 and the raised position 101. As shownin FIGS. 10 and 12 , the holding mechanism 108 is installed compactlybetween the first supporting portion 104B1 and the second supportingportion 104B2. The holding mechanism 108 has a first cam (first member)126 that is attached to the fixed-side member 104, a second cam (secondmember) 127 that is supported so as to be rotatable together with theshaft 106 and to be swingable in an axial direction, and a spring member128 that pushes the second cam 127 against the first cam 126.

The first cam 126 is disposed on the right of the first supportingportion 104B1, and is fitted around the shaft 106 (is inserted onto theshaft 106) and is fixed to the first supporting portion 104B1 by, forexample, a bolt.

The second cam 127 is disposed on the right of the first cam 126, and isfitted around the shaft 106 so as to be swingable in an axial directionand rotatable together with the shaft 106.

The spring member 128 includes a compression coil spring, and is fittedaround an outer periphery of the shaft 106 at a location between thesecond cam 127 and the second supporting portion 104B2. The springmember 128 has an axis in a direction that is the same as the directionof an axis of the shaft 106, and is interposed in a compressed statebetween the second cam 127 and the second supporting portion 104B2.Therefore, a biasing force of the spring member 128 acts in a directionin which the second cam 127 is pushed against the first cam 126. Thesecond cam 127 is pushed against the first cam 126 to generate a forcethat holds the armrest body 93L2 in the raised position 101 or thelowered position, and a force that holds the first armrest 93L toprevent shaking of the first armrest 93L between the lowered position100 and the raised position 101 and between the lowered position 100 andthe raised position 101.

As shown in FIG. 16 , at least one cam protrusion 129 protruding towardthe second cam 127 is formed on a surface of the first cam 126 oppositeto the second cam 127. The at least one cam protrusion 129 is a pair ofcam protrusions 129. The pair of cam protrusions 129 are disposed atpositions that are symmetrical to each other with the shaft 106therebetween (positions that are symmetrical in a radial direction ofthe shaft 106).

As shown in FIG. 17 , at least one cam inclined surface 130 thatcontacts the cam protrusions 129 is provided on a surface of the secondcam 127 opposite to the first cam 126. The at least one cam inclinedsurface 130 is a pair of cam inclined surfaces in correspondence withthe pair of cam protrusions 129. Each cam inclined surface 130 has anapex portion 130 a that is closest to the first cam 126, and a firstinclined surface 130 b and a second inclined surface 130 c that areformed on respective sides of the apex portion 130 a, the first inclinedsurface 130 b existing in the raising direction 118 with respect to theapex portion 130 a, the second inclined surface 130 c existing in thelowering direction 119 with respect to the apex portion 130 a.

FIG. 18 shows a state in which the armrest body 93L2 exists in thelowered position 100. When the armrest body 93L2 is rotated from thelowered position 100 to the raised position 101, the cam protrusions 129contact the first inclined surfaces 130 b and move over the apexportions 130 a to contact the second inclined surfaces 130 c.

As shown in FIG. 19 , when the armrest body 93L2 exists in the raisedposition 101, the cam protrusions 129 contact the second inclinedsurfaces 130 c, and a biasing force of the spring member 128 acts torotate the armrest body 93L2 in the raising direction 118. In order torotate the armrest body 93L2 in the lowering direction 119 from theraised position 101, unless the cam protrusions 129 compress the springmember 128 and move over the apex portions 130 a of the cam inclinedsurfaces 130, the armrest body 93L2 is not lowered. Therefore, thearmrest body 93L2 is held in the raised position 101.

As a result of the cam protrusions 129 contacting the first inclinedsurfaces 130 b, a force that assists in the rotation of the armrest body93L2 in the lowering direction 119 is generated, and as a result of thecam protrusions 129 contacting the second inclined surfaces 130 c, aforce that assists in the rotation of the armrest body 93L2 in theraising direction 118 is generated. That is, the cam protrusions 129 andthe cam inclined surfaces 130 contact each other to cause a biasingforce of the spring member 128 to act in a direction that assists in therotation of the armrest body 93L2 such that, on a lowered-position-100side from an intermediate position between the lowered position 100 andthe raised position 101, the armrest body 93L2 is rotated to the loweredposition 100 and such that, on a raised-position-101 side from theintermediate position, the armrest body 93L2 is rotated to the raisedposition 101.

In the holding mechanism 108 of the present embodiment, since the firstcam 126, the second cam 127, and the spring member 128 are installed onthe shaft 106 (on the same axis), the holding mechanism 108 can becompactly formed, and can be compactly accommodated within the thicknessof the armrest 93 in an up-down direction.

Note that the cam protrusions 129 may be formed on the second cam 127,and the cam inclined surfaces 130 may be formed on the first cam 126.

As shown in FIGS. 20 and 21 , a manipulator mechanism 131 is installedat the second armrest 93R. The manipulator mechanism 131 is a mechanismthat manipulates the dozer device 7. The manipulator mechanism 131includes the dozer lever (operation member) 80, an angle sensor 132 thatdetects an operation direction (direction in which the dozer lever 80 isswung) and an operation amount (degree of swinging) of the dozer lever80, and an operation supporting mechanism 133 that supports the dozerlever 80.

As shown in FIG. 5 , the dozer lever 80 is disposed opposite to theattaching portion 92 at the armrest base 93R1 of the second armrest 93R.That is, the dozer lever 80 is disposed on the right of the manipulatorbase body 87 (the armrest base 93R1 of the second armrest 93R). A recessprovided portion 88 that is recessed toward the right and left is formedat the right side of the armrest base 93R1. The dozer lever 80 has agrip 80A that is grasped by an operator, and a lever shaft 80B on whoseupper portion the grip 80A is attached. The dozer lever 80 is disposedat a right portion of the manipulator base body 87 by inserting a lowerportion of the lever shaft 80B into the recess provided portion 88 fromthe right. The dozer lever 80 can be swung in a front-rear directionaround a lower portion thereof from a neutral position where the levershaft 80B extends in an up-down direction. As a result of swinging thedozer lever 80 forward from the neutral position, the dozer device 7(dozer blade 7B) moves downward, and as a result of swinging the dozerlever 80 rearward, the dozer device 7 (dozer blade 7B) moves upward.

As shown in FIG. 21 , the angle sensor 132 includes, for example, apotentiometer. The angle sensor 132 is connected to the controller U1.The controller U1 is capable of acquiring detection information (theoperation direction and the operation amount of the dozer lever 80)provided by the angle sensor 132. Therefore, a detection signal detectedby the angle sensor 132 is sent to the controller U1, and the controllerU1 electrically controls a control valve V2 that controls a dozercylinder C1 on the basis of the detection signal provided by the anglesensor 132.

As shown in FIG. 21 , the angle sensor 132 is accommodated in theattaching portion 92 of the manipulator base body 87 (the secondstructural part 94B of the first structural body 87A). Since the anglesensor 132 is long in an up-down direction, when the angle sensor 132 isaccommodated in, for example, the armrest base 93R1 of the secondarmrest 93R, a portion protruding downward from the lower surface of thesecond armrest 93R is formed. However, it is possible to prevent aportion protruding downward from the lower surface of the second armrest93R from being formed by accommodating the angle sensor 132 in theattaching portion 92. That is, the lower surface of the second armrest93R can be formed with a flat shape.

As shown in FIGS. 20 to 23 , the operation supporting mechanism 133 hasa rotary shaft 134 that is fixed to the dozer lever 80, a shaftsupporting member 135 that supports the rotary shaft 134 so as to berotatable around an axis, a neutral return mechanism 136 that returnsthe dozer lever 80 to a neutral position from an post-operation positionwhere the dozer lever 80 is operated, and a swing restricting mechanism137 that restricts the operation amount of the dozer lever 80 from theneutral position. The operation supporting mechanism 133 is accommodatedinside the hollow of the second armrest 93R. In the present embodiment,the operation supporting mechanism 133 is accommodated inside a hollowof the armrest base 93R1 of the second armrest 93R.

As shown in FIGS. 20 and 21 , the rotary shaft 134 has an axis extendingin a first horizontal direction 138, which is a direction in themachine-body width direction K2, and is disposed below the upper wall 96of the second armrest 93R (the armrest base 93R1). The rotary shaft 134is disposed so as to protrude in the machine-body width direction K2(leftwards) from an end-portion side (one end side in the machine-bodywidth direction K2) at a dozer-lever-80 side of the second armrest 93R(the armrest base 93R1). In the present embodiment, the rotary shaft 134is disposed so as to cross the second armrest 93R (the armrest base93R1) in the machine-body width direction K2.

A right end (one end in an axial direction) of the rotary shaft 134protrudes from the second armrest 93R, and is fixed to a lower end ofthe lever shaft 80B of the dozer lever 80. The rotary shaft 134 isrotatable around the axis extending in the first horizontal direction138, and the dozer lever 80 is disposed on the one end (the right end)in the axial direction of the rotary shaft 134, and rotates togetherwith the rotary shaft 134. That is, the rotary shaft 134 rotates aroundthe axis due to the swinging of the dozer lever 80. The other end (theleft end) in the axial direction of the rotary shaft 134 engages with adetection shaft of the angle sensor 132. The angle sensor 132 detectsthe rotation direction and the rotation angle around the axis of therotary shaft 134. Therefore, the operation direction and the operationamount of the dozer lever 80 are detected.

Note that “direction in the machine-body width direction K2” includes adirection that coincides with the machine-body width direction K2 and adirection that is slightly slanted with respect to the machine-bodywidth direction K2. In the illustrated example (see FIG. 20 ), the firsthorizontal direction 138 is slightly slanted in a slanting directionrearward toward the right with respect to the machine-body widthdirection K2.

As shown in FIGS. 21 to 24 , the shaft supporting member 135 has acylinder member 140 that has an axis extending in the first horizontaldirection 138, an attaching stay 141 that is fixed to an upper portionof the cylinder member 140, and a sensor bracket 142 that is fixed to aleft end of the cylinder member 140. The cylinder member 140 isconcentrically fitted around the left side of the rotary shaft 134 froman intermediate portion of the rotary shaft 134. In other words, a leftportion of the rotary shaft 134 is inserted into the cylinder member 140so as to be rotatable around the axis.

As shown in FIG. 24 , the attaching stay 141 is attached by, forexample, a bolt to the attaching portion 124 protruding downward from alower surface of the upper wall 96. As shown in FIGS. 21 and 22 , theangle sensor 132 is attached to the sensor bracket 142.

As shown in FIGS. 22, 23, and 25 , the neutral return mechanism 136 isdisposed above a right portion of the rotary shaft 134. Specifically,the neutral return mechanism 136 is disposed above a portion of therotary shaft 134 protruding from the cylinder member 140 and between theupper wall 96 and the rotary shaft 134. The neutral return mechanism 136has an interlock arm 143, a spring device 144, and a bracket member 145.The interlock arm 143 has its lower end fixed to the rotary shaft 134and is provided so as to protrude upward from the rotary shaft 134. Thatis, the interlock arm 143 rotates together with the rotary shaft 134.

As shown in FIGS. 22, 23, and 25 , the spring device 144 has aninterlock shaft 146, a housing member 147, and a neutral return spring148. The interlock shaft 146 is disposed above the rotary shaft 134 in asecond horizontal direction 139 (see FIG. 20 ) intersecting (orthogonalto) the first horizontal direction 138. One end (front end) of theinterlock shaft 146 is pivotally supported by and is connected to anupper portion of the interlock arm 143 through a pin 149. The housingmember 147 is disposed rearward of the interlock shaft 146, andaccommodates the other end (rear portion) of the interlock shaft 146.The interlock shaft 146 is supported by the housing member 147 so as tobe movable in an axial direction, and is capable of moving into and outof the housing member 147.

As shown in FIG. 25 , the neutral return spring 148 is a compressioncoil spring, and is accommodated in a spring accommodation portion 147Aof the housing member 147. The neutral return spring 148 is disposed onan outer peripheral side of the interlock shaft 146 with its axialdirection coinciding with the axial direction of the interlock shaft146. Therefore, the neutral return spring 148, together with theinterlock shaft 146, is disposed in the second horizontal direction 139.Consequently, the thickness of the neutral return mechanism 136 (theoperation supporting mechanism 133) can be small. Components of theneutral return mechanism 136 are disposed above the rotary shaft 134.That is, the neutral return mechanism 136 do not have componentsprotruding below the rotary shaft 134. Thus, when, for example,components are to be disposed below the rotary shaft 134, it is possibleto prevent the neutral return mechanism 136 from interfering with suchcomponents.

A first spring receiving member 150 and a second spring receiving member151 disposed rearward of the first spring receiving member 150 areprovided inside the spring accommodation portion 147A. The neutralreturn spring 148 in a compressed state is interposed between the firstspring receiving member 150 and the second spring receiving member 151.The first spring receiving member 150 has a cylinder portion 150 a thatis fitted to the outer periphery of the interlock shaft 146 so as to bemovable relative thereto in the axial direction, a first part 150 b thatcontacts a contact restricting member 152 provided in a fixed state at afront portion inside the spring accommodation portion 147A, and a secondpart 150 c that engages with a stepped portion 146 a of the interlockshaft 146. The second spring receiving member 151 has a cylinder portion151 a in which an end member 146 b formed at a rear end of the interlockshaft 146 is accommodated so as to be movable relative thereto in theaxial direction of the interlock shaft 146, a first part 151 b thatcontacts a contact restricting member 153 provided in a fixed state at arear portion inside the spring accommodation portion 147A, and a secondpart 151 c that engages with the end member 146 b.

As shown in FIGS. 23 and 25 , the bracket member 145 has an upper wall145 a, a first side wall 145 b extending downward from one edge (leftedge) of the upper wall 145 a, and a second side wall 145 c extendingdownward from the other edge (right edge) of the upper wall 145 a. Theupper wall 145 a is attached by, for example, a bolt to an attachingportion 154 protruding downward from a lower surface of a bracketattaching portion 156 of the upper wall 96 of the armrest base 93R1.

The first side wall 145 b and the second side wall 145 c each have at arear portion thereof a pivotally supporting wall portion 145 d formed toextend downward. Each pivotally supporting wall portion 145 d isprovided with a pivot pin 155. At a location between the first side wall145 b and the second side wall 145 c, a supported portion 147B providedat a front portion of the housing member 147 is pivotally supported soas to be rotatable around an axis orthogonal to the axis of theinterlock shaft 146 through the pivot pin 155.

At the neutral return mechanism 136 above, when the dozer lever 80 isswung forward from the neutral position, the rotary shaft 134 rotatesand the interlock shaft 146 moves forward such that the interlock arm143 swings forward. This causes the second spring receiving member 151,together with the end member 146 b, to move forward and the neutralreturn spring 148 to be compressed. When the dozer lever 80 is swungrearward from the neutral position, the rotary shaft 134 rotates and theinterlock shaft 146 moves rearward such that the interlock arm 143swings rearward. This causes the first spring receiving member 150,together with the stepped portion 146 a of the interlock shaft 146, tomove rearward and the neutral return spring 148 to be compressed. Whenthe swinging of the dozer lever 80 is stopped, a biasing force of theneutral return spring 148 causes the dozer lever 80 to return to theneutral position from a post-operation position which is a position towhich the dozer lever 80 has been moved (swung). The dozer lever 80 issubjected to an operation load by the neutral return spring 148.

As shown in FIG. 21 , the bracket attaching portion 156 to which thebracket member 145 at the upper wall 96 is attached is formed so as tobe recessed from a lower side to an upper side. This makes it possibleto increase the height of the lower surface of the second armrest 93Rand to widen a lower space of the second armrest 93R.

As shown in FIGS. 23 and 26 , the swing restricting mechanism 137 isdisposed side by side with the neutral return mechanism 136 along therotary shaft 134. Specifically, the swing restricting mechanism 137 isdisposed on the left of the neutral return mechanism 136. It is possibleto decrease the thickness of the operation supporting mechanism 133 inan up-down direction by disposing the swing restricting mechanism 137side by side with the neutral return mechanism 136 along the rotaryshaft 134.

The swing restricting mechanism 137 has at least one supporting part 157that is fixed to the rotary shaft 134, at least one restricting shaft158 that is provided at the at least one supporting part 157, and acontact member 159 that is disposed above the rotary shaft 134 so as tobe opposite to the at least one supporting part 157.

The at least one supporting part 157 protrudes from the rotary shaft 134in the second horizontal direction 139. Specifically, the supportingpart 157 includes a first supporting part 157A protruding from therotary shaft 134 toward one side (forward) in the second horizontaldirection 139, and a second supporting part 157B protruding from therotary shaft 134 toward the other side (rearward) in the secondhorizontal direction 139. The first supporting part 157A and the secondsupporting part 157B each have an insertion hole 160 as a through hole.A nut member 161A is fixed to an upper surface of a portion of the firstsupporting part 157A where the insertion hole 160 is formed. A nutmember 161B is also fixed to an upper surface of a portion of the secondsupporting part 157B where the insertion hole 160 is formed.

The at least one restricting shaft 158 is attached to a correspondingone of the supporting parts 157 so as to be movable toward and away fromthe contact member 159, and restricts the swinging of the dozer lever 80by contacting the contact member 159 when the dozer lever 80 swings fromthe neutral position. Specifically, the at least one restricting shaft158 includes a first restricting shaft 158A that is attached to thefirst supporting part 157A, and a second restricting shaft 158B that isattached to the second supporting part 157B; and the first restrictingshaft 158A is inserted through the insertion hole 160 of the firstsupporting part 157A and is screwed into the nut member 161A, and thesecond restricting shaft 158B is inserted through the insertion hole 160of the second supporting part 157B and is screwed into the nut member161B. The first restricting shaft 158A is screwed toward or away fromthe nut member 161A, as a result of which the first restricting shaft158A moves toward and away from the contact member 159; and the secondrestricting shaft 158B is screwed toward and away from the nut member161B, as a result of which the second restricting shaft 158B movestoward and away from the contact member 159. Therefore, it is possibleto adjust the operation amount of the dozer lever 80 from the neutralposition. The first restricting shaft 158A and the second restrictingshaft 158B are inserted into the respective insertion holes 160 so asnot to protrude below the respective insertion holes 160, and an upperportion of the first restricting shaft 158A and an upper portion of thesecond restricting shaft 158B protrude upward from a corresponding oneof the nut members 161A and 161B.

As shown in FIG. 26 , the contact member 159 is formed from a platematerial, and is disposed above the rotary shaft 134 and the supportingparts 157 such that its plate surface is oriented in an up-downdirection. The contact member 159 is disposed opposite to the supportingparts 157 (the first supporting part 157A and the second supporting part157B). The contact member 159 has a first restricting portion 159Acontacted by the first restricting shaft 158A when the dozer lever 80 isoperated toward one side from the neutral position, and a secondrestricting portion 159B contacted by the second restricting shaft 158Bwhen the dozer lever 80 is operated toward another side from the neutralposition. The first restricting portion 159A and the second restrictingportion 159B are formed so as to be recessed upward from a lower surfaceof the contact member 159. Therefore, it is possible to decrease theinterval between the rotary shaft 134 and the contact member 159.

At the swing restricting mechanism 137 above, the first supporting part157A protrudes from the rotary shaft 134 toward one side (forward) inthe second horizontal direction 139, the second supporting part 157Bprotrudes from the rotary shaft 134 toward the other side (rearward) inthe second horizontal direction 139, and the contact member 159 that isformed from a plate material is disposed above the first supporting part157A and the second supporting part 157B such that its plate surface isoriented in the up-down direction, as a result of which the thickness inthe up-down direction can be decreased.

At the manipulator mechanism 131, since the thickness of the operationsupporting mechanism 133 is small, it is possible to effectively use alower space of the operation supporting mechanism 133. For example, asshown in FIG. 27 , a duct 66C that branches off from the duct 66B can bemade to pass below the second armrest 93R.

The manipulator mechanism 131 is not limited to a mechanism thatmanipulates the dozer device 7, and, as the operation member, forexample, a traveling pedal, a swing operation member that operates aswing bracket, or an AUX pedal that operates an attachment that ismounted in place of or together with the bucket may be used.

The manipulator mechanism 131 is not limited to being provided at themanipulator base 81 disposed forward of the operator's seat 6, and maybe installed on a manipulator base 81 provided beside the operator'sseat 6, or may be provided on the floor constituting an upper surface ofthe machine body. Since the manipulator mechanism 131 does not havecomponents protruding downward from the rotary shaft 134, it is possibleto prevent interference with, for example, members that are disposedbelow the rotary shaft 134.

A working machine 1 according to one or more embodiments includes: amachine body 2; an operator's seat 6 on the machine body 2; and amanipulator base 81 provided forward of the operator's seat 6 on themachine body 2 and having attached thereto a manipulator member 82 to beheld and operated, wherein the manipulator base 81 includes a flip-uparmrest (first armrest 93L) extending in a rearward direction away fromthe manipulator base 81, the flip-up armrest 93L is configured to beswitchable between a first orientation 98 that does not allow anoperator to sit on or get off the operator's seat 6 and a secondorientation 99 that allows the operator to sit on and get off theoperator's seat 6, and configured such that, when the flip-up armrest93L is in the first orientation 98, an actuation of an operation objectto be operated by the manipulator member 82 is allowed, and, when theflip-up armrest 93L is in the second orientation 99, the actuation ofthe operation object is not allowed.

With the configuration, since the armrest 93L has the function ofallowing and preventing the actuation of an operation object that isoperated by the manipulator member 82, it is possible to simplify thestructure and reduce costs.

The manipulator base 81 may include a base portion 86 extending upwardfrom the machine body 2, and a manipulator base body 87 disposed on anupper portion of the base portion 86. The manipulator base body 87 mayinclude an attaching portion 92 to be attached to the base portion 86,and the flip-up armrest 93L. The flip-up armrest 93L may include anarmrest base 93L1 provided beside the attaching portion 92, and anarmrest body 93L2 pivotally supported by the armrest base 93L1. Thearmrest body 93L2 may be switchable between a lowered position 100 inwhich the armrest body 93L2 extends rearward from the armrest base 93L1such that the flip-up armrest 93L is in the first orientation 98, and araised position 101 in which the armrest body 93L2 has been rotatedupward from the lowered position 100 such that the flip-up armrest 93Lis in the second orientation 99.

With the configuration, it is possible to easily switch the armrest 93Lbetween the first orientation 98 and the second orientation 99 byrotating the armrest body 93L2 from the lowered position 100 to theraised position 101.

The working machine 1 may further include a detection switch 102 todetect a position of the armrest body 93L2.

With the configuration, it is possible to detect the first orientation98 and the second orientation 99.

The working machine 1 may further include a damper 122 provided on oneof the armrest base 93L1 and the armrest body 93L2 and configured tocontact the other of the armrest base 93L1 and the armrest body 93L2 toreduce shock produced when the armrest body 93L2 is rotated from theraised position 101 to the lowered position 100.

With the configuration, even if the armrest body 93L2 is loweredviolently, it is possible to eliminate or reduce the likelihood that aloud sound or a large vibration will be produced and possible to improvecomfortability.

The working machine 1 may further include a holding mechanism 108 tohold the armrest body 93L2 in the lowered position 100 and the raisedposition 101.

With the configuration, it is possible to hold the armrest body 93L2 inthe lowered position 100 and in the raised position 101.

The working machine 1 may further include a fixed-side member 104attached to the armrest base 93L1, and a shaft 106 supported by thefixed-side member 104 to rotate together with the armrest body 93L2. Thefixed-side member 104 may include a first supporting portion 104B1 tosupport one of opposite ends of the shaft 106 in an axial direction, anda second supporting portion 104B2 to support the other of the oppositeends of the shaft 106 in the axial direction. The holding mechanism 108may be provided between the first supporting portion 104B1 and thesecond supporting portion 104B2.

With the configuration, it is possible to configure the holdingmechanism 108 and a rotary mechanism rotatably supporting the armrestbody 93L2 in a compact manner.

The holding mechanism 108 may include a first member (first cam 126)attached to the fixed-side member 104, a second member (second cam 127)supported such that the second member is rotatable together with theshaft 106 and slidable in an axial direction, and a spring member 128 topush the second member 127 against the first member 126.

With the configuration, it is possible to place the holding mechanism108 around the shaft 106 in a compact manner.

The holding mechanism 108 may include a cam protrusion 129 provided onone of the first member 126 and the second member 127, and a caminclined surface 130 provided on the other of the first member 126 andthe second member 127 to contact the cam protrusion 129. The camprotrusion 129 and the cam inclined surface 130 may be configured tocontact each other to cause a biasing force of the spring member 128 toact such that the armrest body 93L2 is rotated toward the loweredposition 100 at a position between (i) the lowered position 100 and (ii)an intermediate position between the lowered position 100 and the raisedposition 101, and that the armrest body 93L2 is rotated toward theraised position 101 at a position between the raised position 101 andthe intermediate position.

With the configuration, it is possible to assist the armrest body 93L2in rotating.

The holding mechanism 108 may be configured such that, when the armrestbody 93L2 is in the raised position 101, the cam protrusion 129 and thecam inclined surface 130 contact each other to cause a biasing force ofthe spring member 128 to act in a direction in which the armrest body93L2 is rotated from the lowered position 100 to the raised position101.

With the configuration, it is possible to firmly maintain the raisedposition 101 of the armrest body 93L2.

The working machine 1 may further include: a damper 122 provided on oneof the armrest base 93L1 and the armrest body 93L2 and configured tocontact the other of the armrest base 93L1 and the armrest body 93L2 toreduce shock produced when the armrest body 93L2 is rotated from theraised position 101 to the lowered position 100; and a moving-sidemember 107 attached to the armrest body 93L2 to rotate together with theshaft 106. The damper 122 may be provided on the armrest base 93L1. Themoving-side member 107 may include a damper contacting portion (firstcontacting portion 120) to contact the damper 122.

With the configuration, it is possible to reduce parts count andsimplify the structure because the moving-side member 107 is providedwith a damper contacting portion 120 that contacts the damper 122.

A working machine 1 according to one or more embodiments includes: amachine body 2; an operator's seat 6 on the machine body 2; amanipulator base 81 provided forward of the operator's seat 6; anoperation member (dozer lever 80) swingable and disposed at themanipulator base 81; and an operation supporting mechanism 133 tosupport the operation member 80, wherein the manipulator base 81includes an armrest (second armrest 93R) having a hollow and extendingin a rearward direction away from the manipulator base 81, and theoperation supporting mechanism 133 includes a neutral return mechanism136 to return the operation member 80 to a neutral position from apost-operation position and a swing restricting mechanism 137 to limitan operation amount of the operation member 80 from the neutralposition, and is contained inside the hollow of the armrest 93R, thepost-operation position being a position to which the operation member80 has been moved.

With the configuration, since the operation supporting mechanism 133including the neutral return mechanism 136 and the swing restrictingmechanism 137 is contained inside the hollow of the armrest 93R, it ispossible to prevent the operation supporting mechanism 133 that supportsthe operation member 80 from protruding below the armrest 93R.

The operation supporting mechanism 133 may include a rotary shaft 134rotatable about an axis in response to a swinging operation of theoperation member 80, and a shaft supporting member 135 to support therotary shaft 134 such that the rotary shaft 134 is rotatable about theaxis. The rotary shaft 134 may be disposed below an upper wall 96 of thearmrest 93R and is disposed such that the rotary shaft 134 protrudes ina machine-body width direction K2 from one of opposite sides of thearmrest 93R in the machine-body width direction K2.

With the configuration, the operation member 80 that is operated in afront-rear direction can be supported by the rotary shaft 134 with asimple structure.

The neutral return mechanism 136 may include a spring device 144 and abracket member 145, the spring device 144 being disposed between theupper wall 96 and the rotary shaft 134 and including a neutral returnspring 148 to return the operation member 80 to the neutral position,the bracket member 145 supporting the spring device 144 and beingattached to the upper wall 96. A bracket attaching portion 156 of theupper wall 96 to which the bracket member 145 is attached may berecessed in a direction from a below to above.

With the configuration, it is possible to increase the height of thelower surface of the second armrest 93R and to widen a lower space ofthe second armrest 93R.

The swing restricting mechanism 137 and the neutral return mechanism 136may be arranged along the rotary shaft 134.

With the configuration, since the neutral return mechanism 136 and theswing restricting mechanism 137 are arranged lateral to each other, itis possible to configure the operation supporting mechanism 133 in acompact manner.

The swing restricting mechanism 137 may include at least one supportingpart 157 fixed to the rotary shaft 134, a contact member 159 facing theat least one supporting part 157, and at least one restricting shaft 158attached to the at least one supporting part 157 such that the at leastone restriction shaft 158 is movable toward and away from the contactmember 159 and to restrict swinging of the operation member 80 bycontacting the contact member 159 when the operation member 80 swingsfrom the neutral position.

With the configuration, it is possible to adjust the operation amount ofthe operation member 80 from the neutral position.

The at least one supporting part 157 may include a first supporting part157A that protrudes forward from the rotary shaft 134, and a secondsupporting part 157B that protrudes rearward from the rotary shaft 134.The at least one restricting shaft 158 may include a first restrictingshaft 158A attached to the first supporting part 157A, and a secondrestricting shaft 158B attached to the second supporting part 157B. Thecontact member 159 may be disposed above the rotary shaft 134, andinclude a first restricting portion 159A contacted by the firstrestricting shaft 158A when the operation member 80 is operated in afirst direction from the neutral position, and a second restrictingportion 159B contacted by the second restricting shaft 158B when theoperation member 80 is operated in a second direction from the neutralposition. The first restricting portion 159A and the second restrictingportion 159B may be recessed upward from the lower surface of thecontact member 159.

With the configuration, it is possible to reduce the gap between therotary shaft 134 and the contact member 159.

The manipulator base 81 may include a base portion 86 extending upwardfrom the machine body 2, and a manipulator base body 87 disposed on anupper portion of the base portion 86. The manipulator base body 87 mayinclude an attaching portion 92 to be attached to the base portion 86,and the armrest 93R. The armrest 93R may include an armrest base 93R1provided beside the attaching portion 92, and an armrest body 93R2extending toward the operator's seat 6 from the armrest base 93R1. Theoperation member 80 may be located on the opposite side of the armrestbase 93R1 from the attaching portion 92. The operation supportingmechanism 133 may be contained in the armrest base 93R1.

With the configuration, the operation supporting mechanism 133 thatsupports the operation member 80 located on the opposite side of thearmrest base 93R1 from the attaching portion 92 can be properlycontained in the armrest 93R.

The working machine 1 further may include an angle sensor 132 to detectan operation direction and an operation amount of the operation member80. The angle sensor 132 may be contained in the attaching portion 92.

Since the angle sensor 132 is contained in the attaching portion 92, itis possible to prevent a portion protruding downward from the lowersurface of the armrest 93R from being formed.

A manipulator mechanism 131 according to one or more embodimentsincludes: a rotary shaft 134 rotatable about an axis extending in afirst horizontal direction 138; an operation member (dozer lever 80)disposed at one of opposite ends of the rotary shaft 134 in an axialdirection thereof to rotate together with the rotary shaft 134; an anglesensor 132 disposed at the other of the opposite ends of the rotaryshaft 134 in the axial direction to detect a rotation angle of therotary shaft 134; and a neutral return mechanism 136 provided betweenthe operation member 80 and the angle sensor 132 to return the operationmember 80 to a neutral position from a post-operation position, thepost-operation position being a position to which the operation memberhas been moved.

With the configuration, it is possible to reduce the thickness of themanipulator mechanism 131 in an up-down direction. This makes itpossible to effectively use the space below the manipulator mechanism131.

The neutral return mechanism 136 may include an interlock shaft 146disposed higher than the rotary shaft 134 and extending in a secondhorizontal direction 139 intersecting the first horizontal direction138, an interlock arm 143 to which one of opposite ends of the interlockshaft 146 is pivotally supported and connected, the interlock arm 143being provided on the rotary shaft 134 such that the interlock arm 143protrudes upward from the rotary shaft 134, and a neutral return spring148 including a coil spring fitted on the other of the opposite ends ofthe interlock shaft 146 to bias the interlock shaft 146 to return theoperation member 80 to the neutral position.

With the configuration, it is possible to further reduce the thicknessof the manipulator mechanism 131 in the up-down direction.

The neutral return mechanism 136 may include a bracket member 145disposed higher than the rotary shaft 134 and pivotally supporting ahousing member 147 that contains the other of the opposite ends of theinterlock shaft 146 and the neutral return spring 148.

With the configuration, it is possible to place the neutral returnmechanism 136 higher than the rotary shaft 134, thus making it possibleto eliminate or reduce the likelihood that components will protrudebelow a rotary member and to prevent or reduce interference with memberslocated below the rotary shaft 134.

The manipulator mechanism 131 may further include a swing restrictingmechanism 137 to limit an operation amount of the operation member 80from the neutral position, the swing restricting mechanism 137 and theneutral return mechanism 136 being arranged along the rotary shaft 134between the operation member 80 and the angle sensor 132.

With the configuration, since the neutral return mechanism 136 and theswing restricting mechanism 137 are arranged lateral to each other, itis possible to reduce the thickness of the manipulator mechanism 131 inthe up-down direction.

The swing restricting mechanism 137 may include at least one supportingpart 157 protruding from the rotary shaft 134 in the second horizontaldirection 139, at least one restricting shaft 158 attached to the atleast one supporting part 157, and a contact member 159 disposed higherthan the rotary shaft 134, the contact member 159 being configured to becontacted by the at least one restricting shaft 158 when the operationmember 80 is in the post-operation position to restrict swinging of theoperation member 80, the post-operation position being a position towhich the operation member 80 has been moved from the neutral position.

With the configuration, it is possible to place the swing restrictingmechanism 137 higher than the rotary shaft 134, thus making it possibleto eliminate or reduce the likelihood that components will protrudebelow a rotary member and to prevent or reduce interference with memberslocated below the rotary shaft 134.

The at least one supporting part 157 may include a first supporting part157A and a second supporting part 157B protruding opposite to each otheralong the second horizontal direction 139 from the rotary shaft 134. Theat least one restricting shaft 158 may include a first restricting shaft158A attached to the first supporting part 157A and configured tocontact the contact member 159 when the operation member 80 is moved ina first direction from the neutral position, and a second restrictingshaft 158B attached to the second supporting part 157B and configured tocontact the contact member 159 when the operation member 80 is moved ina second direction from the neutral position. The first restrictingshaft 158A and the second restricting shaft 158B may be attached suchthat the first restricting shaft 158A and the second restricting shaft158B are movable toward and away from the contact member 159.

With the configuration, it is possible to reduce the thickness of themanipulator mechanism 131 in the up-down direction.

The contact member 159 may include a first restricting portion 159A tobe contacted by the first restricting shaft 158A and a secondrestricting portion 159B to be contacted by the second restricting shaft158B. The first restricting portion 159A and the second restrictingportion 159B may be recessed upward from a lower surface of the contactmember 159.

With the configuration, it is possible to reduce the gap between therotary shaft 134 and the contact member 159, and to reduce the thicknessof the manipulator mechanism 131 in the up-down direction.

While preferred embodiments of the present invention have been describedabove, it is to be understood that variations and modifications will beapparent to those skilled in the art without departing from the scopeand spirit of the present invention. The scope of the present invention,therefore, is to be determined solely by the following claims.

What is claimed is:
 1. A manipulator mechanism comprising: a rotary shaft rotatable about an axis extending in a first horizontal direction; an operation member disposed at one of opposite ends of the rotary shaft in an axial direction thereof to rotate together with the rotary shaft; an angle sensor disposed at the other of the opposite ends of the rotary shaft in the axial direction to detect a rotation angle of the rotary shaft; and a neutral return mechanism provided between the operation member and the angle sensor to return the operation member to a neutral position from a post-operation position, the post-operation position being a position to which the operation member has been moved.
 2. The manipulator mechanism according to claim 1, wherein the neutral return mechanism includes an interlock shaft disposed higher than the rotary shaft and extending in a second horizontal direction intersecting the first horizontal direction, an interlock arm to which one of opposite ends of the interlock shaft is pivotally supported and connected, the interlock arm being provided on the rotary shaft such that the interlock arm protrudes upward from the rotary shaft, and a neutral return spring including a coil spring fitted on the other of the opposite ends of the interlock shaft to bias the interlock shaft to return the operation member to the neutral position.
 3. The manipulator mechanism according to claim 2, wherein the neutral return mechanism includes a bracket member disposed higher than the rotary shaft and pivotally supporting a housing member that contains the other of the opposite ends of the interlock shaft and the neutral return spring.
 4. The manipulator mechanism according to claim 1, further comprising: a swing restricting mechanism to limit an operation amount of the operation member from the neutral position, the swing restricting mechanism and the neutral return mechanism being arranged along the rotary shaft between the operation member and the angle sensor.
 5. The manipulator mechanism according to claim 4, wherein the swing restricting mechanism includes at least one supporting part protruding from the rotary shaft in a second horizontal direction, at least one restricting shaft attached to the at least one supporting part, and a contact member disposed higher than the rotary shaft, the contact member being configured to be contacted by the at least one restricting shaft when the operation member is in the post-operation position to restrict swinging of the operation member, the post-operation position being a position to which the operation member has been moved from the neutral position.
 6. The manipulator mechanism according to claim 5, wherein the at least one supporting part includes a first supporting part and a second supporting part protruding opposite to each other along the second horizontal direction from the rotary shaft, the at least one restricting shaft includes a first restricting shaft attached to the first supporting part and configured to contact the contact member when the operation member is moved in a first direction from the neutral position, and a second restricting shaft attached to the second supporting part and configured to contact the contact member when the operation member is moved in a second direction from the neutral position, and the first restricting shaft and the second restricting shaft are attached such that the first restricting shaft and the second restricting shaft are movable toward and away from the contact member.
 7. The manipulator mechanism according to claim 6, wherein the contact member includes a first restricting portion to be contacted by the first restricting shaft and a second restricting portion to be contacted by the second restricting shaft, and the first restricting portion and the second restricting portion are recessed upward from a lower surface of the contact member.
 8. A working machine comprising: the manipulator mechanism according to claim
 1. 9. The working machine according to claim 8, further comprising: a machine body; an operator's seat on the machine body; a manipulator base provided forward of the operator's seat; an operation member swingable and disposed at the manipulator base; and an operation supporting mechanism to support the operation member, wherein the manipulator base includes an armrest having a hollow and extending in a rearward direction away from the manipulator base, and the operation supporting mechanism includes the neutral return mechanism and a swing restricting mechanism to limit an operation amount of the operation member from a neutral position thereof, and is contained inside the hollow of the armrest.
 10. A working machine comprising: a machine body; an operator's seat on the machine body; a manipulator base provided forward of the operator's seat; an operation member swingable and disposed at the manipulator base; and an operation supporting mechanism to support the operation member, wherein the manipulator base includes an armrest having a hollow and extending in a rearward direction away from the manipulator base, and the operation supporting mechanism includes a neutral return mechanism to return the operation member to a neutral position from a post-operation position and a swing restricting mechanism to limit an operation amount of the operation member from the neutral position, and is contained inside the hollow of the armrest, the post-operation position being a position to which the operation member has been moved.
 11. The working machine according to claim 10, wherein the operation supporting mechanism includes a rotary shaft rotatable about an axis in response to a swinging operation of the operation member, and a shaft supporting member to support the rotary shaft such that the rotary shaft is rotatable about the axis, and the rotary shaft is disposed below an upper wall of the armrest and is disposed such that the rotary shaft protrudes in a machine-body width direction from one of opposite sides of the armrest in the machine-body width direction.
 12. The working machine according to claim 10, wherein the armrest extends in a rearward direction away from one of opposite ends in a machine-body width direction of the manipulator base, the manipulator base includes a manipulator member attached to the manipulator base to be held and operated by an operator, and a flip-up armrest extending in a rearward direction away from the other of the opposite ends in the machine-body width direction of the manipulator base, the flip-up armrest is configured to be switchable between a first orientation that does not allow the operator to sit on or get off the operator's seat and a second orientation that allows the operator to sit on and get off the operator's seat, and configured such that, when the flip-up armrest is in the first orientation, an actuation of an operation object to be operated by the manipulator member is allowed, and, when the flip-up armrest is in the second orientation, the actuation of the operation object is not allowed.
 13. A working machine comprising: a machine body; an operator's seat on the machine body; and a manipulator base provided forward of the operator's seat on the machine body and having attached thereto a manipulator member to be held and operated, wherein the manipulator base includes a flip-up armrest extending in a rearward direction away from the manipulator base, the flip-up armrest is configured to be switchable between a first orientation that does not allow an operator to sit on or get off the operator's seat and a second orientation that allows the operator to sit on and get off the operator's seat, and configured such that, when the flip-up armrest is in the first orientation, an actuation of an operation object to be operated by the manipulator member is allowed, and, when the flip-up armrest is in the second orientation, the actuation of the operation object is not allowed.
 14. The working machine according to claim 13, wherein the manipulator base includes a base portion extending upward from the machine body, and a manipulator base body disposed on an upper portion of the base portion, the manipulator base body includes an attaching portion to be attached to the base portion, and the flip-up armrest, the flip-up armrest includes an armrest base provided beside the attaching portion, and an armrest body pivotally supported by the armrest base, and the armrest body is switchable between a lowered position in which the armrest body extends rearward from the armrest base such that the flip-up armrest is in the first orientation, and a raised position in which the armrest body has been rotated upward from the lowered position such that the flip-up armrest is in the second orientation.
 15. The working machine according to claim 14, further comprising: a detection switch to detect a position of the armrest body.
 16. The working machine according to claim 14, further comprising: a damper provided on one of the armrest base and the armrest body and configured to contact the other of the armrest base and the armrest body to reduce shock produced when the armrest body is rotated from the raised position to the lowered position.
 17. The working machine according to claim 14, further comprising: a holding mechanism to hold the armrest body in the lowered position and the raised position.
 18. The working machine according to claim 14, further comprising: a damper provided on one of the armrest base and the armrest body and configured to contact the other of the armrest base and the armrest body to reduce shock produced when the armrest body is rotated from the raised position to the lowered position; and a moving-side member attached to the armrest body to rotate together with a shaft, wherein the damper is provided on the armrest base, and the moving-side member includes a damper contacting portion to contact the damper. 